version: 66.04
glider: 166
mission: 2
dive: 183
start: 6 18 109 4 23 4
data:
$ID,166
$MISSION,2
$DIVE,183
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51956
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8796.7051
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,74
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.273609
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043153614
$SEABIRD_T_H,0.00063164165
$SEABIRD_T_I,2.3580644e-05
$SEABIRD_T_J,2.4654264e-06
$SEABIRD_C_G,-9.9826469
$SEABIRD_C_H,1.1204658
$SEABIRD_C_I,-0.0010752195
$SEABIRD_C_J,0.00016642714
$GPS1,041149,2413.131,12322.739,9,1.4,14,-3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.6
$GPS2,042244,2413.246,12322.847,15,1.0,15,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2403.100,12322.900
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,209.2,18790,-16.4,-12.000
$D_GRID,281
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,105,0.00,0.00,-88.75,0.000,2,0.000,0.000,132,1522,2462
$GC,108,-0.97,-243.4,3.3,-6.3,14,160,8.77,2.00,-35.40,0.000,4,0.225,0.058,2416,213,3858
$GC,289,-0.09,-243.4,57.9,-35.7,45,297,0.88,1.85,0.00,0.000,6,0.156,0.031,2701,1482,3859
$GC,635,-0.97,-243.4,98.4,-11.3,106,642,0.70,2.05,0.00,0.000,4,0.058,0.035,2424,2911,3859
$GC,666,-0.87,-243.4,102.7,-14.5,111,673,0.12,2.05,0.00,0.000,6,0.170,0.031,2454,1480,3859
$GC,1012,-0.48,-243.4,180.0,-15.7,172,1019,0.38,0.00,0.00,0.000,6,0.140,0.000,2575,1480,3860
$GC,1358,-0.67,-243.4,212.9,-9.0,233,1364,0.15,2.08,0.00,0.000,4,0.058,0.035,2497,2901,3860
$STATE,1495,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1495,begin apogee
$GC,1501,-0.20,0.0,232.2,14.8,257,1689,0.50,0.00,181.95,0.789,6,0.113,0.000,2665,1738,2862
$STATE,1691,end apogee,CONTROL_FINISHED_OK
$STATE,1691,begin climb
$GC,1693,0.97,243.4,245.0,0.0,288,1885,1.05,2.22,183.20,0.781,4,0.078,0.047,3053,355,1869
$GC,2065,0.73,243.4,219.2,12.0,350,2072,0.28,2.03,0.00,0.000,6,0.138,0.028,2973,1770,1865
$GC,2410,1.00,366.6,192.2,7.9,411,2513,0.22,2.28,96.00,0.764,4,0.049,0.044,3093,351,1367
$GC,2600,0.80,366.6,164.0,16.3,442,2607,0.32,2.03,0.00,0.000,6,0.133,0.028,2993,1751,1364
$GC,2944,1.39,592.7,136.4,4.5,503,3135,0.47,2.17,181.12,0.732,4,0.036,0.037,3208,3139,455
$GC,3238,1.03,592.7,70.1,26.0,551,3245,0.50,2.10,0.00,0.000,6,0.152,0.031,3072,1719,452
$GC,3583,1.46,662.4,30.2,9.7,612,3591,0.32,2.05,0.00,0.000,4,0.038,0.043,3237,338,451
$STATE,3708,end climb,SURFACE_DEPTH_REACHED
$STATE,3708,begin surface coast
$FINISH,0.6,1.021046
$STATE,3723,end surface coast,CONTROL_FINISHED_OK
$STATE,3723,begin surface
$SM_CCo,3801,0.00,0.000,0,0,449,592.15
$SM_GC,1.42,8.02,0.00,0.00,0.040,0.000,0.000,168,1535,449,-8.01,0.99,592.15
$IRIDIUM_FIX,2403.92,12321.74,120998,040430
$TT8_MAMPS,0.026845
$HUMID,1568
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,25.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.1,56.8
$24V_AH,24.9,40.227
$10V_AH,10.9,24.441
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.700,28.300,642.275,0.000,0.000,80.000,177.827,179.854,0.500,0.000,0.000,15.811,930.833,1200.958,599.644,1189.099,543.510,0.000,1209.895,0.000,1185.754,0.000,5.593,0.000
$DEVICE_MAMPS,225.498,58.292,789.243,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.954,557.967,939.356,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34797,636
$CAP_FILE_SIZE,54782,0
$CFSIZE,260165632,221470720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.307, 52.3,1
$GPS,180609,052708,2413.328,12322.951,11,1.6,11,-3.5